Fixes for Windows (#530)

Co-authored-by: JafarAbdi <[email protected]>
Co-authored-by: Nisala Kalupahana <[email protected]>
Co-authored-by: Jorge Nicho <[email protected]>
Co-authored-by: Henning Kayser <[email protected]>
Co-authored-by: Vatan Aksoy Tezer <[email protected]>
Co-authored-by: Tyler Weaver <[email protected]>
Co-authored-by: Lior Lustgarten <[email protected]>

Author: 8 people

moveit_core/CMakeLists.txt

@@ -13,17 +13,17 @@ find_package(Eigen3 REQUIRED)
 # Finds Boost Components
 include(ConfigExtras.cmake)
 
-list(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/CMakeModules")
-
-find_package(Bullet 2.87 REQUIRED)
-
 find_package(PkgConfig REQUIRED)
-
 pkg_check_modules(LIBFCL REQUIRED "fcl>=0.5.0")
-# replace LIBFCL_LIBRARIES with full path to the library
-find_library(LIBFCL_LIBRARIES_FULL ${LIBFCL_LIBRARIES} ${LIBFCL_LIBRARY_DIRS})
+# replace LIBFCL_LIBRARIES with full paths to the libraries
+set(LIBFCL_LIBRARIES_FULL "")
+foreach(LIBFCL_LIBRARY ${LIBFCL_LIBRARIES})
+  find_library(${LIBFCL_LIBRARY}_LIB ${LIBFCL_LIBRARY} ${LIBFCL_LIBRARY_DIRS})
+  list(APPEND LIBFCL_LIBRARIES_FULL ${${LIBFCL_LIBRARY}_LIB})
+endforeach()
 set(LIBFCL_LIBRARIES "${LIBFCL_LIBRARIES_FULL}")
 
+find_package(Bullet 2.87 REQUIRED)
 find_package(angles REQUIRED)
 find_package(OCTOMAP REQUIRED)
 find_package(urdfdom REQUIRED)

moveit_core/CMakeModules/FindBULLET.cmake

@@ -1,9 +1,5 @@
 # Extras module needed for dependencies to find boost components
 
-# boost::iostreams on Windows depends on boost::zlib
-if(WIN32)
-  set(EXTRA_BOOST_COMPONENTS zlib)
-endif()
 find_package(Boost REQUIRED
   chrono
   date_time
@@ -14,5 +10,4 @@ find_package(Boost REQUIRED
   serialization
   system
   thread
-  ${EXTRA_BOOST_COMPONENTS}
 )

moveit_core/ConfigExtras.cmake

@@ -10,7 +10,9 @@ add_library(${MOVEIT_LIB_NAME} SHARED
   src/world_diff.cpp
   src/collision_env.cpp
 )
-
+include(GenerateExportHeader)
+generate_export_header(${MOVEIT_LIB_NAME})
+target_include_directories(${MOVEIT_LIB_NAME} PUBLIC $<BUILD_INTERFACE:${CMAKE_CURRENT_BINARY_DIR}>)
 set_target_properties(${MOVEIT_LIB_NAME} PROPERTIES VERSION ${${PROJECT_NAME}_VERSION})
 ament_target_dependencies(${MOVEIT_LIB_NAME}
   rclcpp
@@ -51,3 +53,4 @@ if(BUILD_TESTING)
 endif()
 
 install(DIRECTORY include/ DESTINATION include)
+install(FILES ${CMAKE_CURRENT_BINARY_DIR}/${MOVEIT_LIB_NAME}_export.h DESTINATION include)

moveit_core/collision_detection/CMakeLists.txt

@@ -39,10 +39,12 @@
 #include <moveit/collision_detection/collision_detector_allocator.h>
 #include <moveit/collision_detection/allvalid/collision_env_allvalid.h>
 
+#include "moveit_collision_detection_export.h"
+
 namespace collision_detection
 {
 /** \brief An allocator for AllValid collision detectors */
-class CollisionDetectorAllocatorAllValid
+class MOVEIT_COLLISION_DETECTION_EXPORT CollisionDetectorAllocatorAllValid
   : public CollisionDetectorAllocatorTemplate<CollisionEnvAllValid, CollisionDetectorAllocatorAllValid>
 {
 public:

moveit_core/collision_detection/include/moveit/collision_detection/allvalid/collision_detector_allocator_allvalid.h

@@ -9,6 +9,9 @@ add_library(${MOVEIT_LIB_NAME} SHARED
   src/bullet_integration/contact_checker_common.cpp
   src/bullet_integration/ros_bullet_utils.cpp
 )
+include(GenerateExportHeader)
+generate_export_header(${MOVEIT_LIB_NAME})
+target_include_directories(${MOVEIT_LIB_NAME} PUBLIC $<BUILD_INTERFACE:${CMAKE_CURRENT_BINARY_DIR}>)
 set_target_properties(${MOVEIT_LIB_NAME} PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")
 ament_target_dependencies(${MOVEIT_LIB_NAME} SYSTEM
   BULLET
@@ -44,6 +47,7 @@ target_link_libraries(collision_detector_bullet_plugin
 )
 
 install(DIRECTORY include/ DESTINATION include)
+install(FILES ${CMAKE_CURRENT_BINARY_DIR}/${MOVEIT_LIB_NAME}_export.h DESTINATION include)
 install(TARGETS ${MOVEIT_LIB_NAME} EXPORT ${MOVEIT_LIB_NAME}
   TARGETS collision_detector_bullet_plugin EXPORT collision_detector_bullet_plugin
   LIBRARY DESTINATION lib
@@ -61,15 +65,21 @@ if(BUILD_TESTING)
   ament_add_gtest(test_bullet_collision_detection test/test_bullet_collision_detection_pr2.cpp)
   target_link_libraries(test_bullet_collision_detection moveit_test_utils ${MOVEIT_LIB_NAME})
   # TODO: remove if transition to gtest's new API TYPED_TEST_SUITE_P is finished
-  target_compile_options(test_bullet_collision_detection PRIVATE -Wno-deprecated-declarations)
+  if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+    target_compile_options(test_bullet_collision_detection PRIVATE -Wno-deprecated-declarations)
+  endif()
 
   ament_add_gtest(test_bullet_collision_detection_panda test/test_bullet_collision_detection_panda.cpp)
   target_link_libraries(test_bullet_collision_detection_panda moveit_test_utils ${MOVEIT_LIB_NAME})
   # TODO: remove if transition to gtest's new API TYPED_TEST_SUITE_P is finished
-  target_compile_options(test_bullet_collision_detection_panda PRIVATE -Wno-deprecated-declarations)
+  if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+    target_compile_options(test_bullet_collision_detection_panda PRIVATE -Wno-deprecated-declarations)
+  endif()
 
   ament_add_gtest(test_bullet_continuous_collision_checking test/test_bullet_continuous_collision_checking.cpp)
   target_link_libraries(test_bullet_continuous_collision_checking moveit_test_utils ${MOVEIT_LIB_NAME})
   # TODO: remove if transition to gtest's new API TYPED_TEST_SUITE_P is finished
-  target_compile_options(test_bullet_continuous_collision_checking PRIVATE -Wno-deprecated-declarations)
+  if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+    target_compile_options(test_bullet_continuous_collision_checking PRIVATE -Wno-deprecated-declarations)
+  endif()
 endif()

moveit_core/collision_detection_bullet/CMakeLists.txt

@@ -39,10 +39,12 @@
 #include <moveit/collision_detection/collision_detector_allocator.h>
 #include <moveit/collision_detection_bullet/collision_env_bullet.h>
 
+#include "moveit_collision_detection_bullet_export.h"
+
 namespace collision_detection
 {
 /** \brief An allocator for Bullet collision detectors */
-class CollisionDetectorAllocatorBullet
+class MOVEIT_COLLISION_DETECTION_BULLET_EXPORT CollisionDetectorAllocatorBullet
   : public CollisionDetectorAllocatorTemplate<CollisionEnvBullet, CollisionDetectorAllocatorBullet>
 {
 public:

moveit_core/collision_detection_bullet/include/moveit/collision_detection_bullet/collision_detector_allocator_bullet.h

@@ -4,6 +4,9 @@ add_library(${MOVEIT_LIB_NAME} SHARED
   src/collision_common.cpp
   src/collision_env_fcl.cpp
 )
+include(GenerateExportHeader)
+generate_export_header(${MOVEIT_LIB_NAME})
+target_include_directories(${MOVEIT_LIB_NAME} PUBLIC $<BUILD_INTERFACE:${CMAKE_CURRENT_BINARY_DIR}>)
 set_target_properties(${MOVEIT_LIB_NAME} PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")
 ament_target_dependencies(${MOVEIT_LIB_NAME}
   rclcpp
@@ -34,6 +37,7 @@ target_link_libraries(collision_detector_fcl_plugin
 )
 
 install(DIRECTORY include/ DESTINATION include)
+install(FILES ${CMAKE_CURRENT_BINARY_DIR}/${MOVEIT_LIB_NAME}_export.h DESTINATION include)
 
 if(BUILD_TESTING)
   if(WIN32)
@@ -48,10 +52,14 @@ if(BUILD_TESTING)
   ament_add_gtest(test_fcl_collision_detection test/test_fcl_collision_detection_pr2.cpp)
   target_link_libraries(test_fcl_collision_detection moveit_test_utils ${MOVEIT_LIB_NAME})
   # TODO: remove if transition to gtest's new API TYPED_TEST_SUITE_P is finished
-  target_compile_options(test_fcl_collision_detection PRIVATE -Wno-deprecated-declarations)
+  if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+    target_compile_options(test_fcl_collision_detection PRIVATE -Wno-deprecated-declarations)
+  endif()
 
   ament_add_gtest(test_fcl_collision_detection_panda test/test_fcl_collision_detection_panda.cpp)
   target_link_libraries(test_fcl_collision_detection_panda moveit_test_utils ${MOVEIT_LIB_NAME})
   # TODO: remove if transition to gtest's new API TYPED_TEST_SUITE_P is finished
-  target_compile_options(test_fcl_collision_detection_panda PRIVATE -Wno-deprecated-declarations)
+  if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+    target_compile_options(test_fcl_collision_detection_panda PRIVATE -Wno-deprecated-declarations)
+  endif()
 endif()

moveit_core/collision_detection_fcl/CMakeLists.txt

@@ -39,10 +39,12 @@
 #include <moveit/collision_detection/collision_detector_allocator.h>
 #include <moveit/collision_detection_fcl/collision_env_fcl.h>
 
+#include "moveit_collision_detection_fcl_export.h"
+
 namespace collision_detection
 {
 /** \brief An allocator for FCL collision detectors */
-class CollisionDetectorAllocatorFCL
+class MOVEIT_COLLISION_DETECTION_FCL_EXPORT CollisionDetectorAllocatorFCL
   : public CollisionDetectorAllocatorTemplate<CollisionEnvFCL, CollisionDetectorAllocatorFCL>
 {
 public:

moveit_core/collision_detection_fcl/include/moveit/collision_detection_fcl/collision_detector_allocator_fcl.h

@@ -789,6 +789,6 @@ bool PR2ArmIK::checkJointLimits(const double& joint_value, const int& joint_num)
   else
     jv = angles::normalize_angle(joint_value * angle_multipliers_[joint_num]);
 
-  return not(jv < min_angles_[joint_num] || jv > max_angles_[joint_num]);
+  return !(jv < min_angles_[joint_num] || jv > max_angles_[joint_num]);
 }
 }  // namespace pr2_arm_kinematics

moveit_core/constraint_samplers/test/pr2_arm_ik.cpp

@@ -38,6 +38,7 @@
 #include <kdl_parser/kdl_parser.hpp>
 #include <tf2_kdl/tf2_kdl.h>
 #include <algorithm>
+#include <cmath>
 
 #include <moveit/robot_model/robot_model.h>
 #include "pr2_arm_kinematics_plugin.h"
@@ -240,7 +241,7 @@ double computeEuclideanDistance(const std::vector<double>& array_1, const KDL::J
   {
     distance += (array_1[i] - array_2(i)) * (array_1[i] - array_2(i));
   }
-  return sqrt(distance);
+  return std::sqrt(distance);
 }
 
 void getKDLChainInfo(const KDL::Chain& chain, moveit_msgs::msg::KinematicSolverInfo& chain_info)

moveit_core/constraint_samplers/test/pr2_arm_kinematics_plugin.cpp

@@ -2,7 +2,9 @@ cmake_minimum_required(VERSION 3.5)
 set(MOVEIT_LIB_NAME moveit_kinematics_base)
 
 add_library(${MOVEIT_LIB_NAME} SHARED src/kinematics_base.cpp)
-set_target_properties(${MOVEIT_LIB_NAME} PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")
+include(GenerateExportHeader)
+generate_export_header(${MOVEIT_LIB_NAME})
+target_include_directories(${MOVEIT_LIB_NAME} PUBLIC $<BUILD_INTERFACE:${CMAKE_CURRENT_BINARY_DIR}>)
 
 # This line is needed to ensure that messages are done being built before this is built
 ament_target_dependencies(
@@ -17,3 +19,4 @@ ament_target_dependencies(
 )
 
 install(DIRECTORY include/ DESTINATION include)
+install(FILES ${CMAKE_CURRENT_BINARY_DIR}/${MOVEIT_LIB_NAME}_export.h DESTINATION include)

moveit_core/kinematics_base/CMakeLists.txt

@@ -43,6 +43,8 @@
 #include <boost/function.hpp>
 #include <string>
 
+#include "moveit_kinematics_base_export.h"
+
 namespace moveit
 {
 namespace core
@@ -140,7 +142,7 @@ MOVEIT_CLASS_FORWARD(KinematicsBase);  // Defines KinematicsBasePtr, ConstPtr, W
  * @class KinematicsBase
  * @brief Provides an interface for kinematics solvers.
  */
-class KinematicsBase
+class MOVEIT_KINEMATICS_BASE_EXPORT KinematicsBase
 {
 public:
   static const rclcpp::Logger LOGGER;

moveit_core/kinematics_base/include/moveit/kinematics_base/kinematics_base.h

@@ -1,6 +1,9 @@
 set(MOVEIT_LIB_NAME moveit_planning_scene)
 
 add_library(${MOVEIT_LIB_NAME} SHARED src/planning_scene.cpp)
+include(GenerateExportHeader)
+generate_export_header(${MOVEIT_LIB_NAME})
+target_include_directories(${MOVEIT_LIB_NAME} PUBLIC $<BUILD_INTERFACE:${CMAKE_CURRENT_BINARY_DIR}>)
 #TODO: Fix the versioning
 set_target_properties(${MOVEIT_LIB_NAME} PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")
 ament_target_dependencies(${MOVEIT_LIB_NAME}
@@ -26,6 +29,7 @@ target_link_libraries(${MOVEIT_LIB_NAME}
 )
 
 install(DIRECTORY include/ DESTINATION include)
+install(FILES ${CMAKE_CURRENT_BINARY_DIR}/${MOVEIT_LIB_NAME}_export.h DESTINATION include)
 
 if(BUILD_TESTING)
   find_package(ament_cmake_gtest REQUIRED)

moveit_core/planning_scene/CMakeLists.txt

@@ -57,6 +57,8 @@
 #include <memory>
 #include "rclcpp/rclcpp.hpp"
 
+#include "moveit_planning_scene_export.h"
+
 /** \brief This namespace includes the central class for representing planning contexts */
 namespace planning_scene
 {
@@ -85,7 +87,8 @@ using ObjectTypeMap = std::map<std::string, object_recognition_msgs::msg::Object
 /** \brief This class maintains the representation of the
     environment as seen by a planning instance. The environment
     geometry, the robot geometry and state are maintained. */
-class PlanningScene : private boost::noncopyable, public std::enable_shared_from_this<PlanningScene>
+class MOVEIT_PLANNING_SCENE_EXPORT PlanningScene : private boost::noncopyable,
+                                                   public std::enable_shared_from_this<PlanningScene>
 {
 public:
   /** \brief construct using an existing RobotModel */

moveit_core/planning_scene/include/moveit/planning_scene/planning_scene.h

@@ -45,6 +45,8 @@
 #include <random_numbers/random_numbers.h>
 #include <Eigen/Geometry>
 
+#undef near
+
 namespace moveit
 {
 namespace core

moveit_core/robot_model/include/moveit/robot_model/joint_model.h

@@ -37,9 +37,13 @@ add_library(${MOVEIT_LIB_NAME} SHARED
   src/BenchmarkExecutor.cpp
 )
 set_target_properties(${MOVEIT_LIB_NAME} PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")
+if(WIN32)
+  set(EXTRA_LIB ws2_32.lib)
+endif()
 ament_target_dependencies(${MOVEIT_LIB_NAME}
   ${THIS_PACKAGE_INCLUDE_DEPENDS}
 )
+target_link_libraries(${MOVEIT_LIB_NAME} ${EXTRA_LIB})
 
 add_executable(moveit_run_benchmark src/RunBenchmark.cpp)
 ament_target_dependencies(moveit_run_benchmark

moveit_ros/benchmarks/CMakeLists.txt

@@ -49,12 +49,15 @@
 #include <boost/math/constants/constants.hpp>
 #include <boost/filesystem.hpp>
 #include <boost/date_time/posix_time/posix_time.hpp>
+#include <limits>
 #ifndef _WIN32
 #include <unistd.h>
 #else
 #include <winsock2.h>
 #endif
 
+#undef max
+
 using namespace moveit_ros_benchmarks;
 
 static const rclcpp::Logger LOGGER = rclcpp::get_logger("moveit.ros.benchmarks.BenchmarkExecutor");

moveit_ros/benchmarks/src/BenchmarkExecutor.cpp

@@ -330,7 +330,7 @@ class ServoCalcs
 
   const int gazebo_redundant_message_count_ = 30;
 
-  uint num_joints_;
+  unsigned int num_joints_;
 
   // True -> allow drift in this dimension. In the command frame. [x, y, z, roll, pitch, yaw]
   std::array<bool, 6> drift_dimensions_ = { { false, false, false, false, false, false } };

moveit_ros/moveit_servo/include/moveit_servo/servo_calcs.h

@@ -28,7 +28,11 @@ if(WITH_OPENGL)
     set(SYSTEM_GL_LIBRARIES ${GLEW_LIBRARIES} GLEW::GLEW FreeGLUT::freeglut)
   else()
     find_package(GLUT REQUIRED)
-    set(SYSTEM_GL_LIBRARIES ${GLEW_LIBRARIES} GLUT::GLUT)
+    if(WIN32)
+      set(SYSTEM_GL_LIBRARIES GLEW::glew GLUT::GLUT)
+    else()
+      set(SYSTEM_GL_LIBRARIES ${GLEW_LIBRARIES} GLUT::GLUT)
+    endif()
   endif()
   set(perception_GL_INCLUDE_DIRS "mesh_filter/include" "depth_image_octomap_updater/include")
   set(SYSTEM_GL_INCLUDE_DIRS ${GLEW_INCLUDE_DIR} ${GLUT_INCLUDE_DIR})

moveit_ros/perception/CMakeLists.txt

@@ -44,6 +44,7 @@
 #include <stdint.h>
 
 #include <memory>
+#include <boost/bind.hpp>
 
 namespace occupancy_map_monitor
 {

moveit_ros/perception/depth_image_octomap_updater/src/depth_image_octomap_updater.cpp

@@ -7,6 +7,9 @@ add_library(${MOVEIT_LIB_NAME} SHARED
   src/gl_renderer.cpp
   src/gl_mesh.cpp
 )
+include(GenerateExportHeader)
+generate_export_header(${MOVEIT_LIB_NAME})
+target_include_directories(${MOVEIT_LIB_NAME} PUBLIC $<BUILD_INTERFACE:${CMAKE_CURRENT_BINARY_DIR}>)
 set_target_properties(${MOVEIT_LIB_NAME} PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")
 ament_target_dependencies(${MOVEIT_LIB_NAME}
   rclcpp
@@ -40,3 +43,4 @@ target_link_libraries(${MOVEIT_LIB_NAME} ${gl_LIBS} ${SYSTEM_GL_LIBRARIES})
 # endif()
 
 install(DIRECTORY include/ DESTINATION include)
+install(FILES ${CMAKE_CURRENT_BINARY_DIR}/${MOVEIT_LIB_NAME}_export.h DESTINATION include)

moveit_ros/perception/mesh_filter/CMakeLists.txt

@@ -48,6 +48,9 @@
 #include <mutex>
 #include <map>
 
+#undef near
+#undef far
+
 namespace mesh_filter
 {
 MOVEIT_CLASS_FORWARD(GLRenderer);  // Defines GLRendererPtr, ConstPtr, WeakPtr... etc

moveit_ros/perception/mesh_filter/include/moveit/mesh_filter/gl_renderer.h

@@ -39,13 +39,15 @@
 #include <moveit/mesh_filter/sensor_model.h>
 #include <string>
 
+#include "moveit_mesh_filter_export.h"
+
 namespace mesh_filter
 {
 /**
  * \brief Model for Disparity based devices. E.g stereo camera systems or OpenNI compatible devices
  * \author Suat Gedikli <[email protected]>
  */
-class StereoCameraModel : public SensorModel
+class MOVEIT_MESH_FILTER_EXPORT StereoCameraModel : public SensorModel
 {
 public:
   /**